2005-07-16 09:58:01 +00:00
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/*
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* Copyright (c) 2005 Erwin Coumans http://www.erwincoumans.com
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*
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* Permission to use, copy, modify, distribute and sell this software
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* and its documentation for any purpose is hereby granted without fee,
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* provided that the above copyright notice appear in all copies.
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* Erwin Coumans makes no representations about the suitability
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* of this software for any purpose.
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* It is provided "as is" without express or implied warranty.
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*/
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#ifndef COLLISION_SHAPE_H
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#define COLLISION_SHAPE_H
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#include "SimdTransform.h"
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#include "SimdVector3.h"
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#include <SimdMatrix3x3.h>
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#include "SimdPoint3.h"
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#include "BroadphaseCollision/BroadphaseProxy.h" //for the shape types
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///CollisionShape provides generic interface for collidable objects
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class CollisionShape
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{
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public:
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CollisionShape()
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:m_tempDebug(0)
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{
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}
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virtual ~CollisionShape()
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{
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}
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virtual void GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const =0;
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virtual void GetBoundingSphere(SimdVector3& center,SimdScalar& radius) const;
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virtual float GetAngularMotionDisc() const;
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virtual int GetShapeType() const=0;
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///CalculateTemporalAabb calculates the enclosing aabb for the moving object over interval [0..timeStep)
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///result is conservative
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void CalculateTemporalAabb(const SimdTransform& curTrans,const SimdVector3& linvel,const SimdVector3& angvel,SimdScalar timeStep, SimdVector3& temporalAabbMin,SimdVector3& temporalAabbMax);
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bool IsPolyhedral() const
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{
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return (GetShapeType() < IMPLICIT_CONVEX_SHAPES_START_HERE);
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}
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bool IsConvex() const
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{
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return (GetShapeType() < CONCAVE_SHAPES_START_HERE);
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}
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bool IsConcave() const
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{
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return (GetShapeType() > CONCAVE_SHAPES_START_HERE);
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}
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virtual void setLocalScaling(const SimdVector3& scaling) =0;
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2005-09-06 16:45:48 +00:00
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virtual const SimdVector3& getLocalScaling() const =0;
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2005-07-16 09:58:01 +00:00
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virtual void CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia) = 0;
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//debugging support
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virtual char* GetName()const =0 ;
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const char* GetExtraDebugInfo() const { return m_tempDebug;}
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void SetExtraDebugInfo(const char* extraDebugInfo) { m_tempDebug = extraDebugInfo;}
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const char * m_tempDebug;
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//endif debugging support
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2005-07-27 09:30:53 +00:00
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virtual void SetMargin(float margin) = 0;
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virtual float GetMargin() const = 0;
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2005-07-16 09:58:01 +00:00
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};
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#endif //COLLISION_SHAPE_H
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